version: 66.11
glider: 173
mission: 11
dive: 4
start: 7 8 115 22 20 52
data:
$ID,173
$MISSION,11
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51436
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12225
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17106.057
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,3167
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,35
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2860
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,5
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.689926
$PRESSURE_SLOPE,0.0001159958
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.63
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043108058
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,080715,221323,4743.279,-12224.965,3,1.2,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.4
$GPS2,080715,221956,4743.282,-12225.032,5,1.2,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.077,0.249
$KALMAN_X,16.6,-59.8,-47.5,-184.2,-36.7
$KALMAN_Y,117.1,66.7,61.1,716.9,60.8
$MHEAD_RNG_PITCHd_Wd,0.9,1181,-18.2,-10.000,-20.99,2236
$D_GRID,178
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.91,-146.6,140,2202,435,511,0.0,0.0,0,120,0.00,0.00,-102.78,0.000,16386,0.000,0.000,140,2203,2994,3030,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.91,-146.6,140,2202,3030,2960,3.3,-8.2,19,146,11.20,0.00,-9.75,0.000,18438,0.249,0.000,2870,2202,3444,3496,3393,0,0,0,0,0,0,25.50,28.83,26.57
$GC,207,-0.91,-146.6,1856,2200,3486,3389,22.8,-22.8,35,214,0.00,1.95,0.00,0.000,2308,0.000,0.049,2864,3431,3444,3495,3393,0,0,0,0,0,0,28.83,25.90,28.83
$GC,302,-0.91,-146.6,2864,3431,3495,3394,47.2,-27.9,53,308,0.00,1.85,0.00,0.000,3078,0.000,0.028,2865,2191,3444,3495,3393,0,0,0,0,0,0,28.83,26.07,28.83
$GC,370,-0.91,-146.6,2864,2191,3494,3393,65.1,-24.4,66,377,0.00,1.85,0.00,0.000,2564,0.000,0.035,2864,970,3444,3495,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,483,-0.91,-146.6,2864,968,3493,3394,92.6,-22.9,88,490,0.00,1.90,0.00,0.000,3078,0.000,0.038,2862,2200,3444,3494,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,679,-0.91,-146.6,2862,2202,3494,3394,142.7,-25.9,125,684,0.00,0.00,0.00,0.000,2054,0.000,0.000,2862,2201,3443,3493,3394,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,710,begin apogee
$GC,713,-0.20,0.0,2862,2201,3494,3394,151.2,-27.1,131,832,0.77,0.00,110.75,0.776,10246,0.175,0.000,3094,2201,2859,2893,2825,0,0,0,0,0,0,25.22,28.83,24.12
$STATE,833,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,834,0.91,146.6,3093,2201,2892,2824,160.5,0.0,153,964,1.05,2.03,120.70,0.738,10756,0.108,0.037,3460,945,2274,2304,2244,0,0,0,0,0,0,25.10,25.00,24.06
$GC,1057,0.91,146.6,3460,945,2299,2237,138.4,15.6,195,1063,0.00,1.92,0.00,0.000,1030,0.000,0.031,3460,2198,2268,2299,2237,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1245,0.91,146.6,3459,2198,2298,2231,108.1,16.5,232,1251,0.00,1.92,0.00,0.000,516,0.000,0.037,3469,949,2264,2298,2231,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1263,0.91,146.6,3469,949,2297,2232,105.3,15.7,235,1269,0.00,1.88,0.00,0.000,5126,0.000,0.032,3469,2186,2264,2297,2231,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1451,0.91,146.6,3469,2186,2297,2231,76.0,13.7,272,1457,0.00,1.90,0.00,0.000,4356,0.000,0.041,3469,3407,2264,2297,2231,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1524,0.91,146.6,3469,3408,2296,2231,65.5,15.0,286,1531,0.08,1.85,0.00,0.000,5126,0.248,0.030,3465,2177,2263,2296,2231,0,0,0,0,0,0,25.82,26.08,28.83
$GC,1712,0.91,146.6,2624,2174,2253,2217,41.6,11.1,323,1718,0.00,1.88,0.00,0.000,4612,0.000,0.039,3473,954,2263,2296,2230,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1760,0.91,146.6,3474,953,2295,2230,35.9,12.3,332,1767,0.03,1.85,0.00,0.000,5126,0.291,0.031,3465,2187,2262,2295,2230,0,0,0,0,0,0,25.98,26.12,28.83
$GC,1828,0.91,146.6,3465,2189,2295,2230,27.1,13.3,345,1834,0.00,0.00,0.00,0.000,4102,0.000,0.000,3465,2188,2262,2295,2230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,0.91,146.6,3465,2188,2295,2230,17.6,13.8,358,1902,0.00,1.90,0.00,0.000,4356,0.000,0.042,3465,3410,2262,2295,2230,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,1992,end climb,SURFACE_DEPTH_REACHED
$STATE,1992,begin surface coast
$FINISH,0.3,1.021832
$STATE,2009,end surface coast,CONTROL_FINISHED_OK
$STATE,2009,begin surface
$SM_CCo,2026,26.33,0.060,0,0,2063,200.21
$SM_GC,3.99,8.55,1.88,26.33,0.052,0.028,0.060,138,2185,2063,-9.41,1.16,200.21,0,0,0,0,0,0,25.90,26.16,25.94
$IRIDIUM_FIX,4726.11,-12217.96,040508,111134
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,9.12237
$TCM_TEMP,20.30
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,130.1,70.2
$24V_AH,24.1,23.836
$10V_AH,10.3,9.072
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.675,26.550,231.450,26.325,0.000,0.000,0.000,0.000,5.250,0.000,6.036,789.680,379.243,356.678,561.459,26.538,32.221,703.412,0.000,552.805,0.000,17.928,0.000
$DEVICE_MAMPS,290.700,48.960,776.475,59.670,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.460,2.190,13.710,38.430,47.420,61.650,14.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.973,183.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,4.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,16843,380
$CAP_FILE_SIZE,60697,0
$CFSIZE,260165632,258473984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080715,225553,4743.573,-12224.853,14,1.4,14,16.3